[ODE] sample codes

[caglar]

do you have any sample and well-explained ode codes, i am a new  learner. i am trying to do a simple motor and wheels, but i have found  some codes but they are using drawstuff for displaying. i need pure  opengl codes. i would be grateful if you help as soon as possible.
  
  caglar
  yarimuyku at yahoo.com
  caglar.ata at gmail.com
  
			
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